Sorting apparatus and sorting method

Abstract

The application is suitable for the technical field of semiconductor packaging, and provides a sorting device and a sorting method. The sorting method comprises the following steps: placing products on a conveying platform, shooting the front surface of the products by an upper camera, taking the products by a tray conveying arm, shooting the Mark surface of the products by a lower camera, and moving a linear driving platform to the suction mechanism. Compared with the sorting method in the prior art, the overall front surface image and the overall back surface image of all products can be obtained by the upper camera and the lower camera in cooperation with the conveying platform and the tray conveying arm before the products are sorted, and the single products do not need to be shot one by one during the sorting. Under the premise that the whole device has a high degree of automation, the efficiency of the sorting work is improved.

Description

Technical Field

[0001] This invention belongs to the field of semiconductor packaging technology, and particularly relates to a sorting device and sorting method. Background Technology

[0002] In the production of packaged products such as QFN (Quad Flat No-lead Package), BGA (Ball Grid Array), and LGA (Land Grid Array), sorting equipment is typically used to cut and sort the products. Currently, most existing sorting equipment first uses a vision unit to photograph the PAD (pad) surfaces of multiple cut products as a whole. Then, the products are transported to the sorting direct-drive motor, where a suction assembly picks up the individual cut products. Afterward, the vision unit needs to photograph the MARK (marker) surface of each product individually before placing them into different trays based on the images. This results in cumbersome identification steps in the sorting equipment, impacting the efficiency of product sorting. Summary of the Invention

[0003] The purpose of this invention is to provide a sorting device and a sorting method, which aims to solve the technical problems of cumbersome identification steps and low work efficiency in the use of existing sorting devices.

[0004] The present invention is implemented as follows: Firstly, a sorting method is provided, comprising the following steps:

[0005] The transport platform delivers the cut products in a pallet to the area below the upper camera;

[0006] The upper camera captures the PAD surface of the entire product from top to bottom and sends the acquired image data to the controller;

[0007] The tray-loading transport arm picks up the entire tray of products and transports it above the lower camera;

[0008] The lower camera captures the Mark surface of the entire product from bottom to top and sends the acquired image data to the controller.

[0009] In one optional embodiment, when the upper camera photographs the PAD side of the product, the transport platform is stationary; when the lower camera photographs the Mark side of the product, the pallet transport arm is stationary.

[0010] In an optional embodiment, the sorting method further includes the following steps:

[0011] The pallet-loading arm places part of the product onto the first direct-drive platform;

[0012] The pallet-mounted transport arm places another portion of the products onto the second direct-drive platform;

[0013] The first direct drive platform and the second direct drive platform move sequentially from their original positions to the sorting mechanism, and return to their original positions after the product sorting is completed;

[0014] The controller controls the over-sucking mechanism to sort the products placed on the first direct drive platform and the second direct drive platform, and places the products into the first tray assembly or the second tray assembly respectively.

[0015] In an optional embodiment, during the step where the first direct drive platform and the second direct drive platform move sequentially from their original positions to the sorting mechanism and return to their original positions after product sorting, both the first direct drive platform and the second direct drive platform rotate 90° in the horizontal direction as they move from their original positions to the sorting mechanism.

[0016] In an optional embodiment, the transport platform further includes the following steps before the step of transporting the cut products in a whole tray to below the upper camera:

[0017] The cutting section transport arm moves the product away from the cutting mechanism;

[0018] Clean the surface of the cut product using a brush and a sponge;

[0019] The cut product is cleaned with a water vapor-water two-fluid system;

[0020] The liquid on the surface of the product is evaporated by blowing air onto it;

[0021] The product is placed on the transport table using a cutting segment handling arm.

[0022] In an optional embodiment, the transport platform is further provided with a heating unit. During the process of the transport platform transporting the cut products in a whole tray to the area below the upper camera, the heating unit heats the products. A blowing unit is also provided on the movement path of the transport platform to blow air onto the products and dry the product surface when the transport platform passes the blowing unit.

[0023] Secondly, a sorting device is provided, including a transport platform, an upper camera, a lower camera, a tray-mounting transport arm, a first direct-drive platform, a second direct-drive platform, and a suction mechanism. The transport platform is used to transport the products and pass under the upper camera. The upper camera is used to acquire a frontal image of the entire tray of products during the transport of the products on the transport platform. The tray-mounting transport arm is used to remove the products from the transport platform and place some products on the first direct-drive platform and other products on the second direct-drive platform. The tray-mounting transport arm passes over the lower camera during transport. The lower camera is used to acquire a bottom image of the entire tray of products during the transport of the products on the tray-mounting transport arm. The first and second direct-drive platforms are used to transport the products to the suction mechanism. The suction mechanism sorts the product groups on the first and second direct-drive platforms according to the acquisition results of the upper and lower cameras.

[0024] In an optional embodiment, the sorting device further includes a first pallet assembly and a second pallet assembly, the first pallet assembly being used to support and transport a pallet containing good products, and the second pallet assembly being used to support and transport a pallet containing defective products.

[0025] In one optional embodiment, the suction mechanism includes a sorting slide rail, a sorting lifting section, and a sorting nozzle. The sorting lifting section is disposed on the sorting slide rail and can slide along the length of the sorting slide rail. The sorting nozzle is disposed on the sorting lifting section and can drive the sorting nozzle to move vertically. The sorting nozzle is used to connect to the negative pressure unit pipeline. When the sorting lifting section moves above the first direct drive platform or the second direct drive platform, the sorting nozzle contacts the product and sucks up the product through negative pressure. When the sorting lifting section moves above the first tray assembly or the second tray assembly, the sorting nozzle is used to disconnect from the negative pressure unit so that the product is removed from the sorting nozzle.

[0026] In an optional embodiment, the transport platform includes a first slide rail and a transport sliding section. The first slide rail is located in the area below the lower camera, and the transport sliding section is slidably disposed on the first slide rail. The transport sliding section is used to place the cleaned product, and a heating unit for heating the product is provided on the transport sliding section.

[0027] The first aspect of this invention, compared to existing technologies, offers the following technical advantages: After the products are cut and cleaned, a pallet of the cut products is transported via a transport platform to the area below the upper camera. The upper camera then captures the PAD (padding) surface of the entire pallet of products from top to bottom and sends the image data to the controller. Next, the tray-mounting arm picks up the entire pallet of products from the transport platform and transports it above the lower camera. The lower camera then captures the Mark (padding) surface of the entire pallet of products from bottom to top and sends the image data to the controller. Subsequent processes can then directly sort the products using the image data obtained from the upper and lower cameras. Compared to existing sorting methods, this invention allows for the acquisition of overall front and back images of all products before sorting, eliminating the need to photograph each product individually during sorting. This significantly improves the efficiency of the sorting process while maintaining a high degree of automation.

[0028] It is understandable that the beneficial effects of the second aspect mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating the sorting method in the prior art;

[0031] Figure 2 This is a flowchart illustrating the sorting method provided in this embodiment of the invention. Figure 1 ;

[0032] Figure 3 This is a flowchart illustrating the sorting method provided in this embodiment of the invention. Figure 2 ;

[0033] Figure 4 This is a flowchart illustrating the sorting method provided in this embodiment of the invention. Figure 3 ;

[0034] Figure 5 This is a schematic diagram of the structure of the sorting device provided in an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the transport platform and the camera used in the embodiments of the present invention;

[0036] Figure 7 This is a schematic diagram of the swivel plate section transport arm and lower camera structure used in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the sorting mechanism used in the embodiments of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100. Sorting equipment; 200. Cutting segments;

[0040] 1. Transport platform; 11. First slide rail section; 12. Transport sliding section; 13. Fixing structure; 14. Heating unit; 2. Pallet section transport arm; 21. Second slide rail section; 22. Pallet sliding section; 221. Sliding bracket; 222. Lifting drive unit; 223. Mounting component; 23. Adsorption unit; 3. Suction mechanism; 31. Sorting slide rail section; 32. Sorting lifting section; 321. Sorting sliding seat; 332. Sorting lifting unit; 33. Sorting nozzle; 4. First direct drive platform; 41. Direct drive motor; 42. Support platform; 5. Second direct drive platform; 6. Upper camera; 7. Lower camera; 8. First tray assembly; 9. Second tray assembly. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In this embodiment, according to Figure 1 The XYZ rectangular coordinate system established in the text is defined as follows: the side located in the positive direction of the X-axis is defined as front, and the side located in the negative direction of the X-axis is defined as back; the side located in the positive direction of the Y-axis is defined as left, and the side located in the negative direction of the Y-axis is defined as right; the side located in the positive direction of the Z-axis is defined as up, and the side located in the negative direction of the Z-axis is defined as down.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] In the prior art, please refer to Figure 1 In most cases, during product sorting, after the products are divided and cleaned, a vision unit is used to acquire a front image of the product group to determine if there are any defects on the front of the products in the group. Then, the products are placed on a direct-drive platform on the sorting mechanism, which transports them from the placement position to the suction mechanism 3. Finally, the suction mechanism 3 picks up individual products from the product group, and after picking up a single product, another vision unit acquires a bottom image of the individual product to determine if there are any defects on the bottom. Finally, based on the detection results of the two vision units, the individual products are placed into their corresponding hoppers. Because the sorting process requires first inspecting the front of the product with a vision unit, and then individually inspecting the bottom of each product in the group with another vision unit, and only after each individual inspection can the product be sorted, the sorting equipment suffers from low sorting efficiency. To solve the above problems, this invention provides a semiconductor sorting device and method, the details of which are as follows:

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0048] Please refer to Figure 4 As shown, in an embodiment of the present invention, a first aspect provides a sorting method, comprising the following steps:

[0049] The transport platform 1 transports the cut products in a whole tray to the area below the upper camera 6;

[0050] Specifically, the cut product is transported along a preset path via transport platform 1, passing under the area of ​​upper camera 6 during the transport process. Transport platform 1 refers to the parts or components that can transport the product. During transport on transport platform 1, the product is generally placed on transport platform 1 and moves with it. At this time, the upper surface of the product is exposed and not obstructed, and can be photographed from above by upper camera 6.

[0051] The upper camera 6 captures images of the entire product's PAD surface from top to bottom and sends the acquired image data to the controller. Specifically, the upper camera 6 refers to a device that can acquire images of a specified location or area, such as a CCD (Charge-coupled Device) visual inspection device.

[0052] The tray-loading transport arm 2 picks up the entire tray of products and transports it above the lower camera 7;

[0053] Specifically, the cut product is transported along a preset path by the tray-mounted transport arm 2, passing above the lower camera 7 during transport. The tray-mounted transport arm 2 is a component or assembly that can transport the cut product as a whole. The tray-mounted transport arm 2 can use a vacuum suction cup to pick up and transport the product. When the tray-mounted transport arm 2 picks up the product from above, the lower surface of the product is unobstructed, allowing the product to be photographed from below.

[0054] The lower camera 7 captures the Mark surface of the entire product tray from bottom to top and sends the acquired image data to the controller. Specifically, the lower camera 7 refers to a device capable of acquiring images of a specified location or area, such as a CCD (Charge-coupled Device) vision inspection device.

[0055] The sorting method provided in this embodiment of the invention involves transporting a tray of cut products to the area below an upper camera 6 via a transport platform 1 after cutting and cleaning. The upper camera 6 then captures the PAD side of the entire tray of products from top to bottom and sends the image data to a controller. Next, a tray-mounting transport arm 2 picks up the entire tray of products from the transport platform 1 and transports it above a lower camera 7. The lower camera 7 then captures the Mark side of the entire tray of products from bottom to top and sends the image data to the controller. Subsequent processes can then directly sort the products using the image data obtained from the upper camera 6 and lower camera 7. Compared to existing sorting methods, this method allows for the acquisition of overall front and back images of all products before sorting, eliminating the need to photograph each product individually during sorting. This significantly improves the efficiency of the sorting process while maintaining a high degree of automation.

[0056] In one embodiment, see Figure 2 and Figure 3 When the upper camera 6 captures the PAD side of the product, the transport platform 1 remains stationary; when the lower camera 7 captures the Mark side of the product, the tray-mounted transport arm 2 remains stationary. Specifically, the PAD side refers to the front of the product, and the Mark side generally refers to the bottom of the product. The transport platform 1 can stop moving when transporting the entire product to the area below the upper camera 6, thus ensuring the product remains stationary while the upper camera 6 acquires the image, and continues transporting the product after the image acquisition is complete. Similarly, the tray-mounted transport arm 2 can also stop moving for a certain period when transporting the entire product to the area above the lower camera 7, thus ensuring the product remains stationary while the lower camera 7 acquires the image, and continues transporting the product after the image acquisition is complete. By ensuring the product group remains stationary when the upper camera 6 captures the front image of the product group, and also when the lower camera 7 captures the bottom image of the product group, the acquired front and bottom images of the product are clearer, providing clearer image support for subsequent product recognition, thereby improving the accuracy of product recognition.

[0057] In one embodiment, see Figure 3 The sorting method described above also includes the following steps:

[0058] The pallet-loading arm 2 places part of the product onto the first direct drive platform 4;

[0059] The pallet-mounted transport arm 2 places another portion of the products onto the second direct drive platform 5;

[0060] Specifically, both the first direct-drive platform 4 and the second direct-drive platform 5 refer to transport mechanisms used to drive the movement of objects. The first direct-drive platform 4 is typically driven by a direct-drive motor, which moves the platform structure along a slide rail mechanism. By placing products on the platform structure, product transport is achieved. Here, the pallet section's handling arm 2 places products onto the first direct-drive platform 4 and the second direct-drive platform 5. This increases the spacing between products without changing their arrangement order, making the products more loosely arranged. This avoids encountering adjacent products during subsequent product sorting, thus preventing deviations in the product sorting process.

[0061] The first direct drive platform 4 and the second direct drive platform 5 move sequentially from their original positions to the sorting mechanism and return to their original positions after product sorting is completed. Specifically, after the product is placed, the first direct drive platform 4 and the second direct drive platform 5 can move sequentially to the sorting mechanism, and there is a certain time difference in the process of moving to the sorting mechanism. However, in the process of returning to their original positions after product sorting is completed, the first direct drive platform 4 and the second direct drive platform 5 can move synchronously and can also move sequentially to their original positions at intervals.

[0062] The controller controls the suction mechanism 3 to sort the products placed on the first direct drive platform 4 and the second direct drive platform 5, placing the products into the first tray assembly 8 or the second tray assembly 9 respectively. Specifically, the controller identifies the products based on captured images and a preset program, and after identifying defective products, controls the suction mechanism 3 to pick up the products from the first direct drive platform 4 and the second direct drive platform 5, and places the good and defective products into the first tray assembly 8 or the second tray assembly 9 respectively according to the identified structure.

[0063] In one embodiment, see Figure 2 In the step where the first direct-drive platform 4 and the second direct-drive platform 5 move sequentially from their original positions to the sorting mechanism and return to their original positions after product sorting, both platforms rotate 90° horizontally during this movement. Specifically, by rotating both platforms 90° horizontally during the return-to-original-position step after product sorting, the platforms are positioned to facilitate the operation of the suction mechanism 3, making product sorting more convenient and improving both sorting efficiency and accuracy.

[0064] In one embodiment, see Figure 2 Before the step of transporting the cut products in a whole tray to the area below the upper camera 6, the following steps are also included:

[0065] The cutting section transport arm moves the product away from the cutting mechanism;

[0066] Specifically, a cutting section handling arm refers to a component or assembly that can transport objects. Cutting section handling arms typically use vacuum suction to grip products, making product transportation more convenient.

[0067] Clean the surface of the cut product using a brush and a sponge;

[0068] Specifically, by setting up a roller structure along the product's transport path, and the roller structure being able to rotate under the drive of a power unit, a brush structure or a sponge structure can be set around the circumference of the roller structure. When the product passes through the roller structure, the rotation of the roller structure can cause the brush or sponge to clean the surface of the product, thereby achieving the purpose of cleaning the product surface with a brush or sponge.

[0069] Immerse the cut product in the liquid and clean it.

[0070] Specifically, when a product is immersed in a liquid, a two-fluid mixture, namely a water vapor mixture, can be generated in the liquid using a high-pressure air source to clean the surface of the product. Ultrasonic cleaning can also be used.

[0071] The liquid on the surface of the product is evaporated by blowing air onto it;

[0072] Specifically, a blowing device can be installed along the product transportation path to deliver high-speed gas to the product surface, thereby increasing the gas flow rate on the product surface and causing the liquid to evaporate.

[0073] The product is placed on the transport table using a cutting segment handling arm.

[0074] Before identifying and sorting products, the surface of the cut products is cleaned with brushes and sponges, the cut products are immersed in liquid for cleaning, and the liquid on the product surface is evaporated by blowing air onto the product. This removes dust or impurities from the product surface, preventing dust and impurities from affecting the sorting of products, thus improving the sorting accuracy and efficiency.

[0075] It should be noted that the product is transported by the cutting section conveyor arm during the processes of cleaning the surface of the cut product with a brush and sponge, immersing the cut product in liquid and cleaning it, and evaporating the liquid on the product surface by blowing air onto it.

[0076] In one embodiment, see Figure 6The transport platform 1 is also equipped with a heating unit 14. During the process of transporting the cut products in a pallet to the area below the upper camera 6, the products are heated by the heating unit 14. A blowing unit is also installed along the movement path of the transport platform 1 to blow air onto the products as the platform passes by, thus drying the product surface. Specifically, the heating unit 14 refers to a component or assembly that heats the object. The heating unit 14 typically uses electric heating; for example, components such as heating wires are installed on the transport platform 1. It heats the object by converting electric current into heat energy. By also installing the heating unit 14 on the transport platform 1, the products can be heated during transport to achieve drying, thereby increasing the drying speed after cleaning and improving sorting efficiency.

[0077] Secondly, please refer to Figure 5 A sorting device is provided, including a transport platform 1, an upper camera 6, a lower camera 7, a tray-mounting transport arm 2, a first direct-drive platform 4, a second direct-drive platform 5, and a suction mechanism 3. The transport platform 1 is used to transport products and pass under the upper camera 6. The upper camera 6 is used to acquire a frontal image of the entire tray of products during the transport process on the transport platform 1. The tray-mounting transport arm 2 is used to remove products from the transport platform 1 and place some products on the first direct-drive platform 4 and other products on the second direct-drive platform 5. The tray-mounting transport arm 2 passes over the lower camera 7 during the transport process. The lower camera 7 is used to acquire a bottom image of the entire tray of products during the transport process on the tray-mounting transport arm 2. The products are transported to the suction mechanism 3 on the first direct-drive platform 4 and the second direct-drive platform 5. The suction mechanism 3 sorts the product groups on the first direct-drive platform 4 and the second direct-drive platform 5 according to the results acquired by the upper camera 6 and the lower camera 7.

[0078] Specifically, transport platform 1 refers to a component or assembly that can transport products. Transport platform 1 can be a power structure that drives the platform structure to slide on a slide rail. Upper camera 6 and lower camera 7 both refer to devices that can acquire images of a specified location or area, such as a CCD (Charge-coupled Device) visual inspection device. Upper camera 6 and lower camera 7 can respectively acquire front and back images of all products in the product group and send the image results to the controller, which can then determine whether a single product in the product group has defects. The tray-mounted transport arm 2 refers to a component or assembly that can transport the cut products as a whole. The tray-mounted transport arm 2 can use a vacuum suction cup to pick up and transport the product. When the tray-mounted transport arm 2 picks up the product from above, the lower surface of the product is unobstructed, allowing for imaging from below. The first direct-drive platform 4 and the second direct-drive platform 5 both refer to transport mechanisms used to drive the movement of objects. The first direct-drive platform 4 is usually driven by a direct-drive motor that moves the platform structure along the slide rail mechanism. By placing the product on the platform structure, product transport is achieved. The suction mechanism 3 refers to a component or assembly that can suck up products through negative pressure. The suction mechanism 3 can be equipped with multiple suction head structures to enable the simultaneous suction of multiple products.

[0079] The cut products are transported in a tray via transport platform 1 to the area below upper camera 6. Upper camera 6 captures the PAD side of the entire tray of products from top to bottom and sends the image data to the controller. Then, the tray-mounting arm 2 picks up the entire tray of products from transport platform 1 and transports it above lower camera 7. Lower camera 7 captures the Mark side of the entire tray of products from bottom to top and sends the image data to the controller. Subsequent processes can then directly sort the products using the image data obtained from upper camera 6 and lower camera 7. Compared to existing sorting methods, this method allows for the acquisition of overall front and back images of all products before sorting, eliminating the need to photograph each product individually during sorting. This significantly improves sorting efficiency while maintaining a high degree of automation.

[0080] In one embodiment, see Figure 7The sorting device also includes a first pallet assembly 8 and a second pallet assembly 9. The first pallet assembly 8 supports and transports pallets containing good products, and the second pallet assembly 9 supports and transports pallets containing defective products. Specifically, both the first pallet assembly 8 and the second pallet assembly 9 are components used to support and move the pallets. During sorting, some products are placed on the first direct-drive platform 4 and others on the second direct-drive platform 5 via the pallet transport arm 2. The products are then transported to the suction mechanism 3 via the first and second direct-drive platforms 4 and 5. The suction mechanism 3 then removes the products from the first and second direct-drive platforms 4 and 5, placing the good products in the pallets on the first pallet assembly 8 and the defective products in the pallets on the second pallet assembly 9. Since the product placement positions on the first and second direct-drive platforms 4 and 5 are the same as those detected by the upper camera 6 and lower camera 7, the suction mechanism 3 can be controlled by the controller to directly sort the products based on the detection results, without needing to perform individual detection on each product before removal.

[0081] In one embodiment, see Figure 7 and Figure 8 The suction mechanism 3 includes a sorting slide rail 31, a sorting lifting part 32, and a sorting nozzle 33. The sorting lifting part 32 is disposed on the sorting slide rail 31 and can slide along the length direction of the sorting slide rail 31. The sorting nozzle 33 is disposed on the sorting lifting part 32. The sorting lifting part 32 can drive the sorting nozzle 33 to move in the vertical direction. The sorting nozzle 33 is used to connect to the negative pressure unit pipeline. When the sorting lifting part 32 moves above the first direct drive platform 4 or the second direct drive platform 5, the sorting nozzle 33 contacts the product and sucks up the product through negative pressure. When the sorting lifting part 32 moves above the first tray assembly 8 or the second tray assembly 9, the sorting nozzle 33 is used to disconnect from the negative pressure unit so that the product is removed from the sorting nozzle 33. Specifically, the sorting slide rail 31 refers to a guide rail structure of a certain length, and the sorting lifting part 32 refers to a component that can drive the movement of objects. The sorting lifting part 32 can be a single component, such as a cylinder, hydraulic cylinder, or electric push rod, or it can be a component structure composed of multiple components. The sorting nozzle 33 refers to a component used to grasp chips. Its working principle is to set an open cavity in the body and connect the cavity to the vacuum unit pipeline. The vacuum unit generates negative pressure at the opening to pick up the chip.

[0082] The first direct drive platform 4, the second direct drive platform 5, the first tray assembly 8, and the second tray assembly 964 can be arranged at intervals along the first direction. At the same time, the sorting slide rail 31 is arranged along the first direction, and the sorting lifting part 32 is slidably arranged on the sorting slide rail 31. The sorting suction nozzle 33 is arranged on the sorting lifting part 32, and the sorting suction nozzle 33 can be driven to move in the vertical direction through the sorting lifting part 32. During the sorting process, the sorting nozzle 33 can be moved and lifted by the cooperation of the sorting lifting part 32 and the sorting slide rail part 31. When the sorting lifting part 32 moves above the product moving platform, the sorting nozzle 33 contacts the product and sucks the product up through negative pressure. When the sorting lifting part 32 moves above the first tray assembly 8, the sorting lifting part 32 drives the sorting nozzle 33 to descend. After descending to the bottom, the sorting nozzle 33 sucking up the good product is disconnected from the negative pressure unit so that the good product is removed from the sorting nozzle 33 and placed into the tray. After placement, the sorting nozzle 33 is driven to rise by the sorting lifting part 32. When the sorting lifting unit 32 moves above the second tray assembly 9, the sorting lifting unit 32 drives the sorting suction nozzle 33 to descend. After descending to the bottom, the sorting suction nozzle 33, which is sucking up defective products, is disconnected from the negative pressure unit so that the defective products are removed from the sorting suction nozzle 33 and placed into the tray. After placement, the sorting lifting unit 32 drives the sorting suction nozzle 33 to rise, making the sorting operation of the entire sorting assembly faster and more convenient.

[0083] In addition, there can be multiple sorting nozzles 33. Multiple sorting nozzles 33 can be set at intervals along a straight line or arranged in a rectangular array. As long as the arrangement order of the sorting nozzles 33 matches the arrangement order of the cut products, the sorting component can pick up multiple chips at once and sort them by setting multiple sorting nozzles 33, thereby improving the overall working efficiency of the sorting component.

[0084] In an optional embodiment, please refer to Figure 8The sorting lifting unit 32 includes a sorting sliding seat 321 and a sorting lifting unit 332. The sorting sliding seat 321 is slidably mounted on the sorting slide rail 31, and the sorting lifting unit 332 is mounted on the sorting sliding seat 321. All sorting nozzles 33 are connected to the drive end of the sorting lifting unit 332. Specifically, the sorting sliding seat 321 refers to a component with a certain volume; it can be block-shaped, plate-shaped, or a combination of various shapes. The sorting lifting unit 332 refers to a power component that can drive the movement of objects; it can be a cylinder, hydraulic cylinder, or electric push rod, etc. The sorting nozzles 33 can be directly fixed to the drive end of the sorting lifting unit 332, or they can be connected to the drive end of the sorting lifting unit 332 via a fixing bracket. In use, the sorting nozzle 33 moves laterally by sliding the sorting sliding seat 321 along the sorting slide rail 31. The sorting nozzle 33 is driven to rise and fall by the sorting lifting unit 332 itself, making the use of the sorting lifting unit 32 simpler and more convenient.

[0085] In one embodiment, see Figure 6 The transport platform 1 includes a first slide rail section 11 and a transport sliding section 12. The first slide rail section 11 is located below the lower camera 7. The transport sliding section 12 is slidably disposed on the first slide rail section 11 and is used to place the cleaned product. A heating unit 14 for heating the product is provided on the transport sliding section 12. Specifically, the first slide rail section 11 refers to a track structure with a certain length. The transport sliding section 12 refers to a block-shaped structure with a certain volume. The transport sliding section 12 is slidably disposed on the first slide rail section 11, and a transport drive unit can also be provided between the transport sliding section 12 and the first slide rail section 11. The transport drive unit can be a cylinder, hydraulic cylinder, or lead screw drive structure, etc. A fixing structure 13 can also be provided on the transport sliding section 12. The fixing structure 13 refers to a component that fixes an object to another object. The fixing structure 13 can fix the object by pressing, snapping, or vacuum adsorption. By providing a first slide rail 11 in the area below the upper camera 6, and a transport slide 12 slidably disposed on the first slide rail 11, the products can be fixed by the fixing structure 13 when the product group is placed on the transport slide 12. The transport slide 12 can drive the product group to pass under the upper camera 6, making it simpler and more convenient for the upper camera 6 to acquire frontal images of all products in the product group.

[0086] Heating unit 14 refers to a component or assembly that heats an object. Heating unit 14 typically uses electric heating, such as heating wires or other components installed on the transport platform 1, which can heat the object by converting electric current into heat energy. By also installing heating unit 14 on the transport platform 1, the product can be heated and dried during transport on the transport platform 1, thereby increasing the drying speed after cleaning.

[0087] The above are merely preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention, as well as other specific embodiments of the present invention that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present invention.

Claims

1. A sorting method, characterized in that, Includes the following steps: The transport platform (1) transports the cut products in a whole tray to the bottom of the upper camera (6); The upper camera (6) captures the PAD surface of the entire product from top to bottom and sends the captured image data to the controller; The tray transport arm (2) picks up the entire tray of the product from above, and the lower surface of the product is not obstructed. The cut product is transported along a preset path by the tray transport arm (2) and passes above the lower camera (7) during the transport process. The lower camera (7) captures the Mark surface of the entire product from bottom to top and sends the acquired image data to the controller; The products are sorted based on the image data acquired by the upper camera (6) and the lower camera (7); Before sorting the products, the upper camera (6) and the lower camera (7) work together with the transport platform (1) and the pallet transport arm (2) to obtain the overall front and back images of all the products. The step of sorting the products based on the image data acquired by the upper camera (6) and the lower camera (7) further includes the following steps: The pallet-mounted transport arm (2) places part of the product onto the first direct drive platform (4); The tray-mounted transport arm (2) places another part of the products on the second direct drive platform (5); wherein, the tray-mounted transport arm (2) places the products on the first direct drive platform (4) and the second direct drive platform (5), increasing the spacing between the products without changing the product arrangement order; The first direct drive platform (4) and the second direct drive platform (5) move sequentially from their original positions to the suction mechanism (3) and return to their original positions after the product sorting is completed; wherein, during the process of the first direct drive platform (4) and the second direct drive platform (5) moving from their original positions to the suction mechanism (3), both the first direct drive platform (4) and the second direct drive platform (5) rotate 90° in the horizontal direction; The controller controls the suction mechanism (3) to sort the products placed on the first direct drive platform (4) and the second direct drive platform (5), and place the products on the first tray assembly (8) or the second tray assembly (9) respectively.

2. The sorting method as described in claim 1, characterized in that, When the upper camera (6) photographs the PAD side of the product, the transport platform (1) is stationary; when the lower camera (7) photographs the Mark side of the product, the pallet transport arm (2) is stationary.

3. The sorting method as described in claim 1, characterized in that, Before the transport platform (1) transports the cut products in a whole tray to the area below the upper camera (6), the following steps are also included: The cutting section transport arm moves the product away from the cutting mechanism; Clean the surface of the cut product using a brush and a sponge; The cut product is cleaned with a water vapor-water two-fluid system; The liquid on the surface of the product is evaporated by blowing air onto it; The product is placed on the transport table using a cutting segment handling arm.

4. The sorting method as described in claim 3, wherein the transport platform (1) is further provided with a heating unit (14), and the product is heated by the heating unit (14) during the process of the transport platform (1) transporting the cut product in a whole tray to the area below the upper camera (6). A blowing unit is also provided on the movement path of the transport platform (1) to blow air onto the product to dry the surface of the product when the transport platform (1) passes the blowing unit.

5. A sorting device, characterized in that, The system includes a transport platform (1), an upper camera (6), a lower camera (7), a tray-mounting transport arm (2), a first direct-drive platform (4), a second direct-drive platform (5), and a suction mechanism (3). The transport platform (1) is used to transport products and pass under the upper camera (6). The upper camera (6) is used to acquire a frontal image of the entire tray of products during the transport of the products on the transport platform (1). The tray-mounting transport arm (2) is used to pick up the entire tray of products from above, ensuring that the lower surface of the products is not obstructed during the picking process, and to transport the entire tray of products above the lower camera (7). The tray-mounting transport arm (2) is also used to remove products from the transport platform (1) and place some products on the first direct-drive platform (4) and the other part of the products on the second direct-drive platform (5). When the tray-mounting transport arm (2) places the products on the first direct-drive platform (4) and the second direct-drive platform (5), it can... Without changing the product arrangement order, the spacing between products is increased; the tray transport arm (2) passes over the lower camera (7) during transportation. The lower camera (7) is used to acquire the bottom image of the entire tray of products during the transportation of products by the tray transport arm (2). The first direct drive platform (4) and the second direct drive platform (5) are used to transport the products to the suction mechanism (3). The first direct drive platform (4) and the second direct drive platform (5) can move sequentially from their original positions to the suction mechanism (3) and return to their original positions after product sorting. During the process of moving from their original positions to the suction mechanism (3), the first direct drive platform (4) and the second direct drive platform (5) can rotate 90° in the horizontal direction. The suction mechanism (3) sorts the product groups on the first direct drive platform (4) and the second direct drive platform (5) according to the results collected by the upper camera (6) and the lower camera (7). Before sorting the products, the upper camera (6) and the lower camera (7) work together with the transport platform (1) and the pallet transport arm (2) to obtain an overall front image and an overall back image of all the products.

6. The sorting equipment as described in claim 5, characterized in that, The sorting equipment also includes a first pallet assembly (8) and a second pallet assembly (9), wherein the first pallet assembly (8) is used to support and transport pallets containing good products, and the second pallet assembly (9) is used to support and transport pallets containing defective products.

7. The sorting equipment as described in claim 6, characterized in that, The suction mechanism (3) includes a sorting slide rail (31), a sorting lifting part (32), and a sorting nozzle (33). The sorting lifting part (32) is disposed on the sorting slide rail (31) and can slide along the length direction of the sorting slide rail (31). The sorting nozzle (33) is disposed on the sorting lifting part (32). The sorting lifting part (32) can drive the sorting nozzle (33) to move in the vertical direction. The sorting nozzle (33) is used to connect to the negative pressure unit pipeline. When the sorting lifting part (32) moves above the first direct drive platform (4) or the second direct drive platform (5), the sorting nozzle (33) contacts the product and sucks up the product through negative pressure. When the sorting lifting part (32) moves above the first tray assembly (8) or the second tray assembly (9), the sorting nozzle (33) is used to disconnect from the negative pressure unit so that the product is removed from the sorting nozzle (33).

8. The sorting equipment as described in claim 5, characterized in that, The transport platform (1) includes a first slide rail (11) and a transport sliding part (12). The first slide rail (11) is located in the area below the lower camera (7). The transport sliding part (12) is slidably disposed on the first slide rail (11). The transport sliding part (12) is used to place the cleaned product. The transport sliding part (12) is provided with a heating unit (14) for heating the product.

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